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#include "arch.h"
#include "driver/gpio.h"
#include "driver/stdout.h"
#if defined(MULTIPASS_ARCH_HAS_I2C) && !defined(DRIVER_SOFTI2C)
#include "driver/i2c.h"
#else
#include "driver/soft_i2c.h"
#endif
#include "driver/mpu9250.h"
#define INIT0(val) int val = 0, min_ ## val = 0, max_ ## val = 0;
#define UPDATE_MIN(min_val, val) if ((val) < (min_val)) { (min_val) = (val); }
#define UPDATE_MAX(max_val, val) if ((val) > (max_val)) { (max_val) = (val); }
int main(void)
{
INIT0(ax);
INIT0(ay);
INIT0(az);
INIT0(mx);
INIT0(my);
INIT0(mz);
unsigned short i = 0;
arch.setup();
gpio.setup();
kout.setup();
// One ADC conversion per four seconds
TCCR1A = 0;
TCCR1B = _BV(CS12) | _BV(CS10);
// Measure internal 1.1V bandgap using VCC as reference on each Timer 1 overflow
ADMUX = _BV(REFS0) | 0x0e;
ADCSRB = _BV(ADTS2) | _BV(ADTS1);
ADCSRA = _BV(ADEN) | _BV(ADATE) | _BV(ADPS2) | _BV(ADPS1);
if (i2c.setup() != 0) {
kout << "I2C setup failed" << endl;
return 1;
}
kout << "I2C setup OK" << endl;
mpu9250.init();
mpu9250.nineAxis();
mpu9250.setGyroEnable(false, false, false);
while (1) {
mpu9250.getRawAccel(&ax, &ay, &az);
UPDATE_MIN(min_ax, ax);
UPDATE_MIN(min_ay, ay);
UPDATE_MIN(min_az, az);
UPDATE_MAX(max_ax, ax);
UPDATE_MAX(max_ay, ay);
UPDATE_MAX(max_az, az);
if (mpu9250.getRawMagnet(&mx, &my, &mz)) {
UPDATE_MIN(min_mx, mx);
UPDATE_MIN(min_my, my);
UPDATE_MIN(min_mz, mz);
UPDATE_MAX(max_mx, mx);
UPDATE_MAX(max_my, my);
UPDATE_MAX(max_mz, mz);
}
if (i++ == 2000) {
kout << "Min Accel: " << min_ax << " / " << min_ay << " / " << min_az << endl;
kout << "Max Accel: " << max_ax << " / " << max_ay << " / " << max_az << endl;
kout << "Min Magnet: " << min_mx << " / " << min_my << " / " << min_mz << endl;
kout << "Max Magnet: " << max_mx << " / " << max_my << " / " << max_mz << endl;
kout << "Temp: " << mpu9250.getTemperature() << endl;
min_ax = min_ay = min_az = 30000;
max_ax = max_ay = max_az = -30000;
min_mx = min_my = min_mz = 30000;
max_mx = max_my = max_mz = -30000;
i = 0;
if (ADCSRA & _BV(ADIF)) {
uint8_t adcr_l = ADCL;
uint8_t adcr_h = ADCH;
uint16_t adcr = adcr_l + (adcr_h << 8);
uint16_t vcc = 1100L * 1023 / adcr;
TIFR1 |= _BV(TOV1);
ADCSRA |= _BV(ADIF);
kout << "VCC: " << vcc << endl;
}
}
arch.delay_ms(1);
}
return 0;
}
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